private void UpdateVertex(LayerTile u)
{
if (!gScore.ContainsKey(u))
{
gScore[u] = float.PositiveInfinity;
}
if (u != end)
{
float minVal = float.PositiveInfinity;
foreach (Point neighborPoint in fog.Adjacents(u, adjPoints))
{
LayerTile s = map.GetTileByMapCoordinates(neighborPoint.X, neighborPoint.Y);
if (!gScore.ContainsKey(s))
{
gScore[s] = float.PositiveInfinity;
}
float currVal = (DistBetween(u, s)) + gScore[s];
if (minVal > currVal)
{
minVal = currVal;
}
}
rhs[u] = minVal;
}
if (openSet.ContainsKey(u))
{
openSet.Remove(u);
}
if (gScore[u] != rhs[u])
{
fScore[u] = CalculateKey(u);
openSet.Add(u, fScore[u]);
}
}
/**
* <summary>
* Finds adjacent and possibly free tiles to the one given
* </summary>
*/
private List <LayerTile> IsAdjacentTileFree(LayerTile tile, DStarLite dstar)
{
List <LayerTile> res = new List <LayerTile>();
if (tile != null)
{
foreach (Point neighborPoint in fog.Adjacents(tile, dstar.adjPoints))
{
LayerTile u = map.GetTileByMapCoordinates(neighborPoint.X, neighborPoint.Y);
if (dstar.CalculateDistance(u) != float.PositiveInfinity)
{
res.Add(u);
}
}
}
return(res);
}
